Le Papillon was a PAVE project oriented towards autonomous software in non-traditional environments. Specifically, PAVE aimed to enter the hydroplane into the unmanned section of the Promoting Electric Propulsion (PEP) competition. The project was in collaboration with Princeton Electric Speedboating (PES), and provided RC, sensing, and partial autonomous capabilities to the vehicle. With little existing research on maritime vehicles, the majority of PAVE’s efforts were dedicated towards efficient image processing and segmentation, vehicle movement simulation, and competitor hydroplane detection.